CN113581325B - Portable negative-pressure walking robot - Google Patents

Portable negative-pressure walking robot Download PDF

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Publication number
CN113581325B
CN113581325B CN202111019595.1A CN202111019595A CN113581325B CN 113581325 B CN113581325 B CN 113581325B CN 202111019595 A CN202111019595 A CN 202111019595A CN 113581325 B CN113581325 B CN 113581325B
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China
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assembly
rubber ring
chassis
sealing
top cover
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CN113581325A (en
Inventor
高玉涛
贾文博
宋安福
黄世龙
宋晓禹
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Beijing Clementine Technology Co ltd
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Beijing Clementine Technology Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B62D63/04—Component parts or accessories

Abstract

The invention discloses a portable negative pressure walking robot, which comprises a driving chassis assembly and a sealing skirt assembly, wherein the driving chassis assembly is arranged on the driving chassis assembly; the driving chassis assembly comprises a top cover, a fan assembly, a chassis body and a driving wheel assembly, and the sealing skirt assembly comprises a sealing gasket, an elastic supporting body and a rubber ring; the top cover and the chassis body are buckled together to form a closed cavity, the fan assembly is arranged in the closed cavity formed by the top cover and the chassis body, the chassis body is provided with an air inlet, and the top cover is provided with an air outlet; the chassis body is used for carrying a driving wheel assembly and a sealing skirt assembly; the section of the rubber ring is a U-shaped groove of a semi-surrounding structure, and the elastic supporting body is arranged in the U-shaped groove of the rubber ring. The portable negative pressure walking robot provided by the invention has a special sealing skirt structure, can adapt to different curved surfaces and defect surfaces, can be compatible with light and multiple functions, can stably adsorb, and can cope with various working environments.

Description

Portable negative pressure walking robot
Technical Field
The invention relates to a walking robot, in particular to a portable negative-pressure walking robot.
Background
Most of the traditional negative pressure walking robots are large in size, heavy in weight and slow in crawling speed, and the negative pressure walking robots develop towards the direction of miniaturization and light weight along with the development of the robot technology and the deepening of understanding of the wall climbing robots. Although the existing negative-pressure walking robot has powerful functions and can complete complex tasks of surface-to-surface conversion, obstacle crossing, groove crossing and the like, the structure is complex and heavy; some wall climbing robots are miniaturized and lightened, but because the wall climbing robots are single robots, the wall climbing robots are simple in function, can only move on flat wall surfaces, and do not have the capability of changing the wall climbing robots to the wall climbing robots along grooves and planes.
Based on the current situation, a portable negative pressure walking robot is developed, can adapt to different curved surfaces and defect surfaces, can be compatible with light and multifunctional, can stably adsorb, and can cope with various working environments.
Disclosure of Invention
The invention aims to provide a portable negative-pressure walking robot, which effectively solves the problems that the existing robot has a complex and heavy structure and simple or single function and cannot adapt to different curved surfaces and defect surfaces; the wall-climbing robot overcomes the defects of the existing wall-climbing robot in the aspects of realizing the conversion of the arc surface, crossing barriers and grooves.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a portable negative pressure walking robot comprises a driving chassis assembly and a sealing skirt assembly; the driving chassis component comprises a top cover, a fan component, a chassis body and a driving wheel component, and the sealing skirt component comprises a sealing gasket, an elastic supporting body and a rubber ring;
the top cover and the chassis body are buckled together to form a closed cavity, the fan assembly is arranged in the closed cavity formed by the top cover and the chassis body, the chassis body is provided with an air inlet, and the top cover is provided with an air outlet;
the chassis body is used for carrying a driving wheel assembly and a sealing skirt assembly;
the section of the rubber ring is a U-shaped groove of a semi-surrounding structure, and the elastic supporting body is arranged in the U-shaped groove of the rubber ring.
Compared with the prior art, the invention has the following beneficial effects:
the portable negative pressure walking robot provided by the invention can be stably adsorbed on a common plane or arc curtain wall. The surface-to-surface conversion of the outer arc surface can be realized, the tasks of crossing obstacles, grooves and the like can also be finished, and different execution tools can be carried on the driving chassis.
On the basis of the technical scheme, the following further optimization can be performed:
the sealing skirt assembly further comprises an inner frame and an outer frame, and the inner frame and the outer frame are respectively arranged on the inner surface and the outer surface of the rubber ring and used for supporting the inner surface and the outer surface of the rubber ring; the inner frame and the outer frame are both integrally processed aluminum alloy frames.
On the basis of the technical scheme, the following further optimization can be performed:
the top cover is of a hollow shell structure with multiple steps, the top cover is made of ABS materials, and a sealing rubber ring is arranged between the top cover and the chassis body.
On the basis of the technical scheme, the following further optimization can be performed:
the fan assembly comprises a motor mounting seat, a brushless motor, a centrifugal impeller, a fairing and sound-absorbing cotton; brushless motor sets up on the motor mount pad, brushless motor drives the rotation of centrifugal impeller and produces suction, inhale the sound cotton and paste on the motor mount pad.
On the basis of the technical scheme, the following further optimization can be performed:
the chassis body is integrally processed by a whole aluminum alloy, a sealing groove is formed in the air inlet, and a sealing ring is arranged in the sealing groove.
On the basis of the technical scheme, the following further optimization can be performed:
the driving wheel assembly comprises a left traveling mechanism and a right traveling mechanism, the left traveling mechanism and the right traveling mechanism respectively comprise a traveling motor, a motor base, a rubber-coated wheel, a synchronous belt and a synchronous wheel, the synchronous wheel is directly connected with the rubber-coated wheel through the synchronous belt, the synchronous wheel is connected with the traveling motor through a flat key, and the traveling motor is fixed on the chassis body through a flange.
On the basis of the technical scheme, the following further optimization can be performed:
the sealing gasket is a rectangular thin gasket and is arranged between the chassis body and the rubber ring, clamping grooves are formed in the tops of two side walls of the U-shaped groove, and clamping portions corresponding to the clamping grooves are formed in the top ends of the inner frame and the top end of the outer frame.
On the basis of the technical scheme, the following further optimization can be performed:
the rubber circle bottom is arc portion, and arc portion is provided with antifriction coating, and antifriction coating's coefficient of friction is not more than 0.1, and is preferential, and antifriction coating's coefficient of friction is not more than 0.05.
On the basis of the technical scheme, the following further optimization can be performed:
and a certain gap is formed between the elastic supporting body and the bottom of the U-shaped groove.
On the basis of the technical scheme, the following further optimization can be performed:
the height of the gap between the elastic supporting body and the bottom of the U-shaped groove is less than 5mm.
Compared with the prior art, the invention has the following beneficial effects:
the portable negative pressure walking robot provided by the invention has a special sealing skirt structure, can adapt to different curved surfaces and defect surfaces, can be compatible with light and multiple functions, can stably adsorb, and can cope with various working environments.
Obviously, many modifications, substitutions, and variations are possible in light of the above teachings of the invention, without departing from the basic technical spirit of the invention, as defined by the following claims.
The foregoing aspects of the present invention are explained in further detail by the following detailed description; this should not be understood as limiting the scope of the above-described subject matter of the present invention to the following examples only; all the technologies realized based on the concept of the present invention belong to the scope of the present invention.
Drawings
FIG. 1 is a schematic view of a portable negative pressure walking robot according to the present invention;
FIG. 2 is a structural cross-sectional view of a sealing skirt assembly of a portable negative pressure walking robot of the present invention;
FIG. 3 is a schematic cross-sectional view of a portable negative pressure walking robot according to the present invention;
FIG. 4 is a schematic view of a crossing groove of a portable negative pressure walking robot according to the present invention;
FIG. 5 is a schematic structural view of a portable negative pressure walking robot crossing a curved obstacle according to the present invention;
FIG. 6 is a schematic diagram of an appearance structure of a portable negative pressure walking robot of the present invention;
in the figure:
1-a top cover; 2-a fan assembly; 3-a chassis body; 4-a sealing gasket; 5-an elastic support; 6-rubber ring; 7-inner frame; 8-outer frame; 9-a drive wheel assembly; 10-air inlet; 11-air outlet; 12-U-shaped groove; 13-clearance; 14-a groove; 15-arc obstacle; 16-a snap-fit portion; 61-arc shaped portion.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings.
As shown in fig. 1 to 6, the present invention relates to a portable negative pressure walking robot, which comprises a driving chassis assembly and a sealing skirt assembly, wherein:
a drive chassis assembly comprising:
the top cap, top cap 1 are the hollow shell that has the many steps, select for use the ABS material, print or injection moulding process through 3D and form, and firm and light, step department is equipped with the seal groove, impresses the sealing rubber ring in the middle of top cap and chassis for form an inclosed cavity, make the fuselage have dustproof and waterproof effect, it has air outlet 11 to open on the top cap.
Fan subassembly 2, contain the motor mount pad, brushless motor, centrifugal impeller, the radome fairing, inhale the sound cotton etc, brushless motor passes through the screw and is connected with the motor mount pad, brushless motor lower surface threaded hole, it is fixed with centrifugal impeller through the screw, brushless motor is high-speed rotatory in order to produce powerful suction, make the robot adsorb at the wall, because high-speed rotatory impeller can produce comparatively harsh noise, the event will inhale the sound cotton and paste in the motor mount pad, in order to play the noise reduction, improve the effect of operating personnel comfort level.
Chassis body 3 is the skeleton of whole robot for carry on fan subassembly, drive wheel subassembly, sealed skirt subassembly etc. when it cooperates with fan subassembly, there is the seal groove in 10 departments of air intake, contains the sealing washer in the seal groove, so can reduce because the machine adds the leakage of negative pressure when processing or other reasons produce the clearance in fan subassembly work, and the whole body of chassis is formed by the whole processing of aluminum alloy, does not select welding or concatenation, and the purpose also lies in guaranteeing that the sealing performance on chassis is good.
The driving wheel assembly 9 comprises two sets of traveling mechanisms, the left set and the right set of traveling mechanisms respectively comprise a traveling motor, a motor base, a rubber-coated wheel, a synchronous belt, a synchronous wheel and the like, the synchronous belt wheel is directly connected with the rubber-coated wheel and is connected with the traveling motor through a flat key, the synchronous belt wheel and the rubber-coated wheel transmit torque through the synchronous belt, and the driving motor is fixed on a robot chassis through a flange.
A sealing skirt assembly comprising:
the sealing gasket 4 is a rectangular thin gasket integrally processed, plays a role in sealing between the chassis and the sealing ring, is compressed and fixed by the inner frame and the outer frame, and is made of rubber.
Elastic support body 5, an elastic construction, it is inside rubber circle to fill, plays the support rubber circle, prevents its effect that collapses to receive extrusion deformation back at the rubber circle, can assist it to kick-back to original shape, keep good encapsulated situation.
The rubber ring 6 is a main body of the sealing structure, the cross section structure of the rubber ring 6 is a structure of a semi-surrounding U-shaped groove 12, an antifriction coating (the friction coefficient of the antifriction coating is 0.05) is coated on the outer surface of the rubber ring, and the friction force between the surface of the rubber ring and a walking wall surface can be greatly reduced, so that the rubber ring is high in overall structure elasticity and small in friction force and is very suitable for being used as a sealing component for negative pressure adsorption, and two grooves are formed in the root parts of two groove walls of the U-shaped groove and are matched with the buckling parts 16 of the inner frame and the outer frame to play a role in fixing; and the bottom of rubber circle 6 is arc portion 61, further reduces the area of contact of rubber circle and ground, reduces frictional force.
Interior frame 7 and outline 8, be the aluminum alloy frame that whole processing formed, its effect is the surface that supports the rubber circle, prevent to make the rubber circle seriously empty to inside because of the negative pressure is too big, also prevent that frictional force from making the rubber circle seriously empty outwards, play the effect of protection to the rubber circle, prevent to produce great negative pressure because of the inside or outside serious of rubber circle empting and reveal, and the clamping groove cooperation of the clamping part of its root and rubber circle, play to compress tightly and fixed effect to the rubber circle. And the central position of the inner frame and the outer frame is provided with a section of inner arc profile which can be well adapted to the surface-to-surface conversion of the outer arc surface.
The principle of the walking robot of the invention for crossing obstacles, grooves and outer arc surfaces is as follows:
as shown in fig. 4 and 5, the rubber ring has elasticity, and a certain gap 13 is left between the internal support body and the rubber ring, when encountering an obstacle (as shown in fig. 5), the rubber ring is sunken to effectively adapt to the deformation caused by the obstacle, and similarly, when encountering a groove (as shown in fig. 4), because the wall of the rubber ring is thin, the rubber ring can be well adapted to the groove by the extrusion of negative pressure, thereby ensuring good sealing performance. When the arc surface is converted, the outer arc surface can be regarded as an obstacle with curvature, and the smaller the curvature is, the easier the obstacle crossing is.
The basic principle of the walking robot is as follows: the driving chassis is of a four-wheel differential structure, two wheel sets on the left side and two wheel sets on the right side are respectively driven by a servo motor, torque transmission is carried out in a synchronous belt transmission mode, directional rotation is carried out in a differential rotation mode, and a top cover with a sealing function and a chassis body are matched to form a portable walking robot, a negative pressure fan is carried in the middle of the portable walking robot, and the portable walking robot has a negative pressure air draft function; the sealing skirt is of a rubber sealing structure, a chassis body, the sealing skirt component and the wall surface form a closed space, when the sealing skirt meets the uneven wall surface, the rubber has elasticity, so that the sealing skirt can be well adapted to obstacles and grooves, and when the arc surface is converted, the outer arc surface can be regarded as an obstacle with curvature, and the obstacle is easier to cross because the curvature is smaller.
As can be seen from fig. 3, the rubber ring of the sealing skirt assembly and the elastic support body are pre-compressed by a certain amount, that is, when the sealing skirt assembly and the elastic support body are placed on a plane and adsorbed, the rubber ring of the sealing skirt assembly is already compressed by a certain height.
The present invention may, of course, be carried out in other embodiments, and various modifications and changes may be made by those skilled in the art without departing from the spirit and scope of the invention.

Claims (7)

1. The utility model provides a light negative pressure walking robot which characterized in that: comprises a drive chassis assembly and a sealing skirt assembly; the driving chassis assembly comprises a top cover (1), a fan assembly (2), a chassis body (3) and a driving wheel assembly (9), and the sealing skirt assembly comprises a sealing gasket (4), an elastic supporting body (5) and a rubber ring (6);
the top cover (1) and the chassis body (3) are buckled together to form a closed cavity, the fan assembly (2) is arranged in the closed cavity formed by the top cover (1) and the chassis body (3), the chassis body (3) is provided with an air inlet (10), and the top cover (1) is provided with an air outlet (11);
the chassis body is used for (3) carrying a driving wheel assembly (9) and a sealing skirt assembly;
the section of the rubber ring (6) is a U-shaped groove (12) with a semi-surrounding structure, and the elastic support body (5) is arranged in the U-shaped groove (12) of the rubber ring (6);
the sealing skirt assembly further comprises an inner frame (7) and an outer frame (8), and the inner frame (7) and the outer frame (8) are respectively arranged on the inner surface and the outer surface of the rubber ring (6) and used for supporting the inner surface and the outer surface of the rubber ring (6); the inner frame (7) and the outer frame (8) are integrally processed aluminum alloy frames;
the bottom of the rubber ring (6) is an arc-shaped part (61), the arc-shaped part (61) is provided with an anti-friction coating, and the friction coefficient of the anti-friction coating is not more than 0.1;
the top cover (1) is of a hollow shell structure with multiple steps, the top cover (1) is made of ABS materials, and a sealing rubber ring is arranged between the top cover (1) and the chassis body (3);
the fan assembly (2) comprises a motor mounting seat, a brushless motor, a centrifugal impeller, a fairing and sound-absorbing cotton; brushless motor sets up on the motor mount pad, brushless motor drives the rotation of centrifugal impeller and produces suction, inhale the sound cotton and paste on the motor mount pad.
2. The portable negative-pressure walking robot of claim 1, characterized in that: the chassis body (3) is integrally processed by a whole aluminum alloy, a sealing groove is formed in the air inlet (10), and a sealing ring is arranged in the sealing groove.
3. The portable negative-pressure walking robot of claim 1, characterized in that: the driving wheel assembly comprises a left traveling mechanism and a right traveling mechanism, the left traveling mechanism and the right traveling mechanism respectively comprise a traveling motor, a motor base, a rubber-coated wheel, a synchronous belt and a synchronous wheel, the synchronous wheel is directly connected with the rubber-coated wheel through the synchronous belt, the synchronous wheel is connected with the traveling motor through a flat key, and the traveling motor is fixed on the chassis body (3) through a flange.
4. The portable negative-pressure walking robot of claim 1, characterized in that: the sealing gasket (4) is a rectangular thin gasket and is arranged between the chassis body (3) and the rubber ring (6), clamping grooves are formed in the tops of two side walls of the U-shaped groove (12), and clamping portions (16) corresponding to the clamping grooves are formed in the top ends of the inner frame (7) and the outer frame (8).
5. The portable negative-pressure walking robot of claim 1, characterized in that: the friction coefficient of the antifriction coating is not more than 0.05.
6. The portable negative-pressure walking robot of claim 1, characterized in that: a certain gap is formed between the elastic support body (5) and the bottom of the U-shaped groove (12).
7. The portable negative-pressure walking robot of claim 6, characterized in that: the height of the gap between the elastic support body (5) and the bottom of the U-shaped groove (12) is less than 5mm.
CN202111019595.1A 2021-09-01 2021-09-01 Portable negative-pressure walking robot Active CN113581325B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111019595.1A CN113581325B (en) 2021-09-01 2021-09-01 Portable negative-pressure walking robot

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Application Number Priority Date Filing Date Title
CN202111019595.1A CN113581325B (en) 2021-09-01 2021-09-01 Portable negative-pressure walking robot

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CN113581325B true CN113581325B (en) 2023-01-13

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Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000179531A (en) * 1998-12-16 2000-06-27 Bill Daiko:Kk Sucker for suction running device
JP2001213367A (en) * 2000-02-04 2001-08-07 Fukashi Uragami Suction device with vacuum regulating mechanism
CN201176192Y (en) * 2008-02-22 2009-01-07 北京航空航天大学 Articular-jointed small-sized two-body negative-pressure wall climbing robot
CN205524556U (en) * 2016-04-22 2016-08-31 厦门大学嘉庚学院 Adherence device is managed to find time to adsorb by pneumatic plunger
CN206456450U (en) * 2017-01-20 2017-09-01 厦门大学嘉庚学院 Attached wall climbing robot foot multitube negative-pressure adsorption wall attaching device
JP6827189B2 (en) * 2017-03-29 2021-02-10 パナソニックＩｐマネジメント株式会社 Wall adsorption traveling device
CN108502041B (en) * 2018-01-15 2020-04-24 湖南蛛蛛机器人科技有限公司 Double-body wall-climbing robot
CN112936324B (en) * 2021-02-04 2023-03-10 苏州瑞得恩光能科技有限公司 Adsorption type robot

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